WO2012156040A1 - Method for operating a motor car with a driver assistance system - Google Patents
Method for operating a motor car with a driver assistance system Download PDFInfo
- Publication number
- WO2012156040A1 WO2012156040A1 PCT/EP2012/001964 EP2012001964W WO2012156040A1 WO 2012156040 A1 WO2012156040 A1 WO 2012156040A1 EP 2012001964 W EP2012001964 W EP 2012001964W WO 2012156040 A1 WO2012156040 A1 WO 2012156040A1
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- Prior art keywords
- steering
- steering intervention
- motor vehicle
- operating
- driving situation
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
Definitions
- the invention relates to a method for operating a motor vehicle, in which steering interventions are performed by means of a driver assistance system.
- a driver assistance system Such methods are state of the art: In certain driving situations, for example when parking, maneuvering or when changing lanes, additional torques are exerted on the steering by means of electric steering actuators, which should assist the driver in his own steering movements. If appropriate, the steering can also be carried out completely by a driver assistance system, as is known from automatic parking systems.
- the electric steering actuator In order to be able to provide the desired additional steering torque, the electric steering actuator must expend energy which is taken from the vehicle's on-board network. If the necessary power can not be provided, the steering intervention can not be carried out to the desired extent or not at all, so that predetermined control targets specified by the driver assistance system can not be achieved and comfort may possibly be lost due to the difficult steering. From EP 1 950 121 A2 it is therefore known to increase the power output of a generator in the electrical system by providing a certain reactive power already in advance of a steering intervention to be carried out. Then takes the steering intervention, the reactive power is reduced, so that the increase in power due to the steering intervention fails and the ride comfort is improved. Again, however, it can not be ensured that the required power is provided in full.
- the present invention is therefore based on the object to provide a method of the type mentioned, which ensures that desired steering interventions can be performed reliably and completely by a driver assistance system.
- a prognosis is made with regard to the occurrence of the at least one predefined driving situation as a function of at least one predefined criterion and depending on the prognosis at least one operating parameter of the motor vehicle relevant to the steering intervention prior to performing the steering intervention on one set necessary to perform the steering intervention required value.
- the at least one operating parameter relevant to the steering intervention is a power provided in an electrical system of the motor vehicle. This ensures that when performing the steering intervention sufficient power is available for a steering actuator.
- the adjustment The provision of the power can be done both by increasing the power output of a generator in the electrical system, as well as by reducing the power consumption of other components of the electrical system.
- a steering angle at a rear axle and / or a front axle of the motor vehicle is selected as at least one operating parameter relevant to the steering intervention.
- a steering state of the motor vehicle can already be adapted to the necessary steering movements in advance of the steering intervention to be performed. For example, from driving situations in which the front and rear axles of the motor vehicle are steered in opposite directions, a steering intervention can quickly be made in which a steering angle of the same direction is necessary.
- the at least one predetermined driving situation is preferably a lane change, a parking process, a parking process, an evasive action or a maneuvering operation.
- the aforementioned driving situations all require relatively strong steering movements, so that here the assistance by steering interventions of a driver assistance system is particularly meaningful both with regard to driving comfort and also with regard to driving safety.
- FIGURE shows a schematic flow diagram for an exemplary embodiment of a method according to the invention.
- the driving condition of the motor vehicle is continuously monitored in a first method step S10.
- state variables of the steering in particular a steering wheel angle, a steering wheel angular velocity, a superposition angle of a dynamic steering system and the speed of its change, as well as a steering torque, are observed.
- powertrain state variables such as vehicle speed, engine speed, wheel speeds, transmission settings and the like can be included in the prediction.
- Other relevant parameters relate to the electrical system of the vehicle.
- On-board voltage and information about events in the electric system of the motor vehicle such as the operation of a starter, the activity of a start-stop automatic and the like of importance.
- the activation of driver assistance systems, for example a parking aid, by the driver can also be included in the prediction.
- environmental information such as the geographic position of the motor vehicle, measurement data from distance sensors or environmental cameras and the like, also flows into the monitoring.
- the electrical system of the motor vehicle can provide the necessary for the steering intervention to be performed electric power.
- both the power output of a generator in the electrical system can be increased and the power consumption of non-essential consumers in the electrical system can be reduced.
- a corresponding additional torque can also be provided by the internal combustion engine of the motor vehicle.
- the electric steering actuator is then available when the predicted driving situation, the necessary power available.
- the steering angle of a rear axle can also be adapted in step S12 in order to facilitate or facilitate the upcoming steering intervention.
- step S14 a check is made in method step S14 as to whether the predicted driving situation actually occurs. If this is the case, in step S16 the steering intervention necessary to overcome the driving situation is carried out by means of the electric steering actuator. After the end of the steering intervention, the operating variables of the motor vehicle that have been changed in step S12 can be reset to their original values in step S18, or transferred again to an independent control or regulation. Subsequently, the system returns to monitoring the driving state in step S10. If, contrary to the prediction, the driving situation does not occur, it is possible to proceed directly to step S18, if appropriate after a certain waiting time.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention relates to a method for operating a motor car, in which, when at least one predefined driving situation is present, an assigned steering intervention is carried out by a driver assistance system. In advance of such steering interventions, predictions relating to the occurrence of the at least one predefined driving situation are produced as a function of at least one predefined criterion and as a function of the prediction at least one operating parameter of the motor car, which is relevant for the steering intervention, is set, before the steering intervention takes place, to a predefined value which is necessary for carrying out the steering intervention. This ensures that when the driving situation takes place, the motor car is in an operating state in which the steering intervention can be carried out without disruption.
Description
Verfahren zum Betreiben eines Kraftwagens mit einem Fahrerassistenzsystem Method for operating a motor vehicle with a driver assistance system
BESCHREIBUNG: DESCRIPTION:
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftwagens, bei welchem mittels eines Fahrerassistenzsystems Lenkeingriffe durchgeführt werden. Solche Verfahren sind Stand der Technik: In bestimmten Fahrsituationen, beispielsweise beim Einparken, Rangieren oder beim Spurwechsel, werden mittels elektrischer Lenkaktoren Zusatzmomente auf die Lenkung ausgeübt, die den Fahrer bei seinen eigenen Lenkbewegungen unterstützen sollen. Gegebenfalls kann die Lenkung auch vollständig von einem Fahrerassis- tenzsystem durchgeführt werden, wie dies von automatischen Einparksystemen bekannt ist. The invention relates to a method for operating a motor vehicle, in which steering interventions are performed by means of a driver assistance system. Such methods are state of the art: In certain driving situations, for example when parking, maneuvering or when changing lanes, additional torques are exerted on the steering by means of electric steering actuators, which should assist the driver in his own steering movements. If appropriate, the steering can also be carried out completely by a driver assistance system, as is known from automatic parking systems.
Um das gewünschte Zusatzlenkmoment bereitstellen zu können, muss der elektrische Lenkaktor Energie aufwenden, die dem Bordnetz des Kraftwa- gens entnommen wird. Kann die notwendige Leistung nicht bereitgestellt werden, so kann der Lenkeingriff nicht im gewünschten Ausmaß oder gar nicht durchgeführt werden, so dass von dem Fahrerassistenzsystem vorgegebene Regelziele nicht erreicht werden und gegebenenfalls Komforteinbußen aufgrund der erschwerten Lenkung auftreten können. Aus der EP 1 950 121 A2 ist daher bekannt, bereits im Vorfeld eines durchzuführenden Lenkeingriffs die Leistungsabgabe eines Generators im Bordnetz durch Bereitstellen einer gewissen Blindleistung zu erhöhen. Erfolgt dann der Lenkeingriff, so wird die Blindleistung abgebaut, so dass der Leistungsanstieg aufgrund des Lenkeingriffs geringer ausfällt und der Fahrkomfort verbessert wird. Auch hier kann jedoch nicht sichergestellt werden, dass die benötigte Leistung vollständig bereitgestellt wird. In order to be able to provide the desired additional steering torque, the electric steering actuator must expend energy which is taken from the vehicle's on-board network. If the necessary power can not be provided, the steering intervention can not be carried out to the desired extent or not at all, so that predetermined control targets specified by the driver assistance system can not be achieved and comfort may possibly be lost due to the difficult steering. From EP 1 950 121 A2 it is therefore known to increase the power output of a generator in the electrical system by providing a certain reactive power already in advance of a steering intervention to be carried out. Then takes the steering intervention, the reactive power is reduced, so that the increase in power due to the steering intervention fails and the ride comfort is improved. Again, however, it can not be ensured that the required power is provided in full.
Neben den beschriebenen Anforderungen an das elektrische Bordnetz sind noch weitere Betriebsparameter des Kraftwagens für solche Lenkeingriffe
von Bedeutung. Hierzu zählt beispielsweise das Verhältnis der Lenkwinkel an den Achsen des Kraftwagens. Soll beispielsweise aus einer Fahrsituation heraus, in welcher Vorder- und Hinterachse des Kraftwagens gegensinnig gelenkt werden, ein Lenkeingriff durchgeführt werden, in welchem eine gleichsinnige Lenkung der Achsen benötigt wird, so ist dies nicht ohne weiteres verzögerungsfrei durchzuführen. In addition to the described requirements for the electrical system are other operating parameters of the motor vehicle for such steering intervention significant. This includes, for example, the ratio of the steering angle to the axles of the motor vehicle. If, for example, from a driving situation in which the front and rear axles of the motor vehicle are steered in opposite directions, a steering intervention is performed, in which an equidirectional steering of the axles is required, then this is not readily carried out without delay.
Der vorliegenden Erfindung liegt somit die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art bereitzustellen, welches sicherstellt, dass ge- wünschte Lenkeingriffe durch ein Fahrerassistenzsystem zuverlässig und vollständig ausgeführt werden können. The present invention is therefore based on the object to provide a method of the type mentioned, which ensures that desired steering interventions can be performed reliably and completely by a driver assistance system.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 gelöst. This object is achieved by a method having the features of patent claim 1.
Bei einem solchen Verfahren zum Betreiben eines Kraftwagens wird bei Vorliegen wenigstens einer vorgegebenen Fahrsituation ein zugeordneter Lenkeingriff durch ein Fahrerassistenzsystem durchgeführt wird. Um eine vollständige Durchführung des Lenkeingriffs sicherzustellen, wird eine Prognose bzgl. des Eintretens der wenigstens einen vorgegebenen Fahrsituation in Abhängigkeit von zumindest einem vorgegebenen Kriterium erstellt und in Abhängigkeit von der Prognose zumindest ein für den Lenkeingriff relevanter Betriebsparameter des Kraftwagens vor dem Durchführen des Lenkeingriffs auf einen zum Durchführen des Lenkeingriffs notwendigen vorgegebenen Wert eingestellt. In such a method for operating a motor vehicle, when there is at least one predetermined driving situation, an associated steering intervention is performed by a driver assistance system. In order to ensure complete execution of the steering intervention, a prognosis is made with regard to the occurrence of the at least one predefined driving situation as a function of at least one predefined criterion and depending on the prognosis at least one operating parameter of the motor vehicle relevant to the steering intervention prior to performing the steering intervention on one set necessary to perform the steering intervention required value.
Somit wird bereits vor Durchführung des Lenkeingriffs ein Betriebszustand des Kraftwagens geschaffen, in welchem sichergestellt ist, dass der Lenkeingriff frei von Beeinträchtigungen durchgeführt werden kann. Dies gewähr- leistet einen hohen Fahrkomfort und verbessert die Fahrsicherheit durch ein gleichbleibend gutes Lenkgefühl. Ferner kann so sichergestellt werden, dass von Fahrerassistenzsystemen vorgegebene Regelziele zuverlässig erreicht werden. Bei einer bevorzugten Ausführungsform des Verfahrens handelt es sich bei dem zumindest einen für den Lenkeingriff relevanten Betriebsparameter um eine in einem elektrischen Bordnetz des Kraftwagens bereitgestellte Leistung. Damit wird sichergestellt, dass bei der Durchführung des Lenkeingriffs hinreichende Leistung für einen Lenkaktor zur Verfügung steht. Die Anpas-
sung der Leistungsbereitstellung kann dabei sowohl durch Erhöhung der Leistungsabgabe eines Generators im Bordnetz, als auch durch eine Verringerung der Leistungsentnahme anderer Komponenten des Bordnetzes erfolgen. Thus, an operating state of the motor vehicle is created before the implementation of the steering intervention, in which it is ensured that the steering intervention can be performed free from adverse effects. This ensures a high level of driving comfort and improves driving safety through a consistently good steering feel. Furthermore, it is thus possible to ensure that predetermined control targets predetermined by driver assistance systems are reliably achieved. In a preferred embodiment of the method, the at least one operating parameter relevant to the steering intervention is a power provided in an electrical system of the motor vehicle. This ensures that when performing the steering intervention sufficient power is available for a steering actuator. The adjustment The provision of the power can be done both by increasing the power output of a generator in the electrical system, as well as by reducing the power consumption of other components of the electrical system.
Vorteilhaft ist es ferner, wenn als zumindest ein für den Lenkeingriff relevanter Betriebsparameter ein Lenkwinkel an einer Hinterachse und/oder einer Vorderachse des Kraftwagens gewählt wird. Hierdurch kann ein Lenkzustand des Kraftwagens bereits im Vorfeld des durchzuführenden Lenkeingriffs an die notwendigen Lenkbewegungen angepasst werden. Beispielsweise kann so aus Fahrsituationen, in welchen Vorder- und Hinterachse des Kraftwagens gegensinnig gelenkt werden, schnell zu einem Lenkeingriff übergegangen werden, bei welchem ein gleichsinniger Lenkwinkel notwendig ist. It is also advantageous if a steering angle at a rear axle and / or a front axle of the motor vehicle is selected as at least one operating parameter relevant to the steering intervention. In this way, a steering state of the motor vehicle can already be adapted to the necessary steering movements in advance of the steering intervention to be performed. For example, from driving situations in which the front and rear axles of the motor vehicle are steered in opposite directions, a steering intervention can quickly be made in which a steering angle of the same direction is necessary.
Vorzugsweise ist die wenigstens eine vorgegebene Fahrsituation ein Spur- Wechsel, ein Einparkvorgang, ein Ausparkvorgang, ein Ausweichvorgang oder ein Rangiervorgang. Die genannten Fahrsituationen benötigen allesamt relativ starke Lenkbewegungen, so dass hier die Unterstützung durch Lenkeingriffe eines Fahrerassistenzsystems besonders sinnvoll sowohl bzgl. des Fahrkomforts als auch bzgl. der Fahrsicherheit ist. The at least one predetermined driving situation is preferably a lane change, a parking process, a parking process, an evasive action or a maneuvering operation. The aforementioned driving situations all require relatively strong steering movements, so that here the assistance by steering interventions of a driver assistance system is particularly meaningful both with regard to driving comfort and also with regard to driving safety.
Im Folgenden wird die Erfindung und ihre Ausführungsformen anhand der Zeichnung näher erläutert. Die einzige Figur zeigt hierbei ein schematisches Ablaufdiagramm für ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens. In the following the invention and its embodiments will be explained in more detail with reference to the drawing. The single FIGURE shows a schematic flow diagram for an exemplary embodiment of a method according to the invention.
Um in bestimmten Fahrsituationen eines Kraftwagens, in denen eine Lenkunterstützung durch einen elektrischen Lenkaktor erforderlich ist, sicherzustellen, dass die gewünschte Lenkunterstützung auch ausgeführt werden kann, wird in einem ersten Verfahrensschritt S10 kontinuierlich der Fahrzustand des Kraftwagens überwacht. Um bevorstehende Fahrsituationen vorherzusagen, werden dabei Zustandsgrößen der Lenkung, insbesondere ein Lenkradwinkel, eine Lenkradwinkelgeschwindigkeit, ein Überlagerungswinkel einer Dynamiklenkung und die Geschwindigkeit seiner Änderung, sowie ein Lenkmoment, beobachtet. In order to ensure in certain driving situations of a motor vehicle in which a steering assistance by an electric steering actuator is required to ensure that the desired steering assistance can also be carried out, the driving condition of the motor vehicle is continuously monitored in a first method step S10. In order to predict upcoming driving situations, state variables of the steering, in particular a steering wheel angle, a steering wheel angular velocity, a superposition angle of a dynamic steering system and the speed of its change, as well as a steering torque, are observed.
Auch Zustandsgrößen des Antriebsstranges, wie beispielsweise die Fahrzeuggeschwindigkeit, Motordrehzahl, Raddrehzahlen, Getriebeeinstellungen und dgl. können in die Vorhersage mit eingehen. Weitere relevante Größen betreffen das elektrische System des Fahrzeugs. Hier sind insbesondere die
Bordnetzspannung und Informationen über Ereignisse im elektrischen System des Kraftwagens, wie beispielsweise die Betätigung eines Anlassers, die Aktivität einer Start-Stop-Automatik und ähnliches von Bedeutung. Auch die Aktivierung von Fahrerassistenzsystemen, beispielsweise einer Einparkhilfe, durch den Fahrer können in die Vorhersage mit einfließen. Also, powertrain state variables such as vehicle speed, engine speed, wheel speeds, transmission settings and the like can be included in the prediction. Other relevant parameters relate to the electrical system of the vehicle. Here are in particular the On-board voltage and information about events in the electric system of the motor vehicle, such as the operation of a starter, the activity of a start-stop automatic and the like of importance. The activation of driver assistance systems, for example a parking aid, by the driver can also be included in the prediction.
Schließlich fließen auch Umgebungsinformationen, wie beispielsweise die geographische Position des Kraftwagens, Messdaten von Abstandssensoren oder Umgebungskameras und dgl. mit in die Überwachung ein. Finally, environmental information, such as the geographic position of the motor vehicle, measurement data from distance sensors or environmental cameras and the like, also flows into the monitoring.
Wird anhand der überwachten Betriebsparameter festgestellt, dass eine bestimmte Fahrsituation, wie beispielsweise das Gegebensein eines Fahrspurwechsel, eines Ausweichmanövers, eines Einpark-, Auspark- oder Rangiervorgangs, unmittelbar bevorsteht, so werden im folgenden Verfahrensschritt S12 Maßnahmen getroffen, die den Kraftwagen auf die in dieser Fahrsituation notwendigen Lenkeingriffe vorbereiten. If it is determined on the basis of the monitored operating parameters that a specific driving situation, such as the givenness of a lane change, an evasive maneuver, a parking, Auspark- or maneuvering, imminent, so measures are taken in the following step S12, the cars on in this Driving situation necessary to prepare steering interventions.
Insbesondere wird in diesem Verfahrensschritt sichergestellt, dass das Bordnetz des Kraftwagens die für den durchzuführenden Lenkeingriff notwendige elektrische Leistung bereitstellen kann. Hierzu kann sowohl die Leistungsabgabe eines Generators im Bordnetz erhöht als auch die Leistungsentnahme nichtessentieller Verbraucher im Bordnetz verringert werden. Um die Bereitstellung der notwendigen Leistung durch den Generator zu sichern, kann ferner ein entsprechendes Zusatzmoment durch die Brennkraftmaschine des Kraftwagens bereitgestellt werden. Dem elektrischen Lenkaktor steht dann beim Eintreten der vorhergesagten Fahrsituation die notwendige Leistung zur Verfügung. Auch der Lenkwinkel einer Hinterachse kann in Schritt S12 an- gepasst werden, um den bevorstehenden Lenkeingriff zu ermöglichen, bzw. zu erleichtern. In particular, it is ensured in this method step that the electrical system of the motor vehicle can provide the necessary for the steering intervention to be performed electric power. For this purpose, both the power output of a generator in the electrical system can be increased and the power consumption of non-essential consumers in the electrical system can be reduced. In order to ensure the provision of the necessary power by the generator, a corresponding additional torque can also be provided by the internal combustion engine of the motor vehicle. The electric steering actuator is then available when the predicted driving situation, the necessary power available. The steering angle of a rear axle can also be adapted in step S12 in order to facilitate or facilitate the upcoming steering intervention.
Nach diesen Anpassungen erfolgt in Verfahrensschritt S14 eine Prüfung, ob die vorhergesagte Fahrsituation tatsächlich eintritt. Ist dies der Fall, so wird in Schritt S16 der zum Bewältigen der Fahrsituation notwendige Lenkeingriff mittels des elektrischen Lenkaktors durchgeführt. Nach Ende des Lenkein- griffs können die in Schritt S12 veränderten Betriebsgrößen des Kraftwagens in Schritt S18 wieder auf ihre ursprünglichen Werte rückgesetzt werden, bzw. wieder einer unabhängigen Steuerung oder Regelung übergeben werden. Anschließend wird wieder zur Überwachung des Fahrzustandes in Schritt S10 zurückgekehrt.
Tritt entgegen der Vorhersage die Fahrsituation nicht ein, so kann - gegebenenfalls nach einer gewissen Wartezeit - unmittelbar mit Schritt S18 fortgefahren werden.
After these adjustments, a check is made in method step S14 as to whether the predicted driving situation actually occurs. If this is the case, in step S16 the steering intervention necessary to overcome the driving situation is carried out by means of the electric steering actuator. After the end of the steering intervention, the operating variables of the motor vehicle that have been changed in step S12 can be reset to their original values in step S18, or transferred again to an independent control or regulation. Subsequently, the system returns to monitoring the driving state in step S10. If, contrary to the prediction, the driving situation does not occur, it is possible to proceed directly to step S18, if appropriate after a certain waiting time.
Claims
1. Verfahren zum Betreiben eines Kraftwagens, bei welchem bei Vorliegen wenigstens einer vorgegebenen Fahrsituation ein zugeordneter Lenkeingriff durch ein Fahrerassistenzsystem durchgeführt wird, wobei eine Prognose bzgl. des Eintretens der wenigstens einen vorgegebenen Fahrsituation in Abhängigkeit von zumindest einem vorgegebenen Kriterium erstellt und in Abhängigkeit von der Prognose zumindest ein für den Lenkeingriff relevanter Betriebsparameter des Kraftwagens vor dem Durchführen des Lenkeingriffs auf einen zum Durchführen des Lenkeingriffs notwendigen vorgegebenen Wert eingestellt wird. 1. A method for operating a motor vehicle, wherein in the presence of at least one predetermined driving situation, an associated steering intervention is performed by a driver assistance system, wherein a prognosis. With respect to the occurrence of at least one predetermined driving situation depending on at least one predetermined criterion created and depending on the Prediction is set at least one relevant to the steering intervention operating parameters of the motor vehicle before performing the steering intervention to a necessary for performing the steering intervention predetermined value.
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, dass characterized in that
der zumindest eine für den Lenkeingriff relevante Betriebsparameter eine in einem elektrischen Bordnetz des Kraftwagens bereitgestellte Leistung ist. the at least one operating parameter relevant to the steering intervention is a power provided in an electrical system of the motor vehicle.
3. Verfahren nach Anspruch 1 oder 2, 3. The method according to claim 1 or 2,
dadurch gekennzeichnet, dass characterized in that
der zumindest eine für den Lenkeingriff relevante Betriebsparameter ein Lenkwinkel an einer Hinterachse und/oder einer Vorderachse des Kraftwagens ist. the at least one operating parameter relevant to the steering intervention is a steering angle at a rear axle and / or a front axle of the motor vehicle.
4. Verfahren nach einem der Ansprüche 1 bis 3, 4. The method according to any one of claims 1 to 3,
dadurch gekennzeichnet, dass characterized in that
die wenigstens eine vorgegebene Fahrsituation des Gegebensein eines Spurwechsels, eines Einparkvorgangs, eines Ausparkvorgangs, eines Ausweichvorgangs oder eines Rangiervorgangs ist. which is at least one predefined driving situation of the givenness of a lane change, a parking maneuver, a parking maneuver, an evasive maneuver or a maneuvering operation.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12720421.2A EP2707246B1 (en) | 2011-05-13 | 2012-05-08 | Method for operating a motor car with a driver assistance system |
US14/117,132 US9296417B2 (en) | 2011-05-13 | 2012-05-08 | Method of operating a motor vehicle with a driver assistance system |
CN201280023651.1A CN103534132B (en) | 2011-05-13 | 2012-05-08 | Method for operating a motor car with a driver assistance system |
ES12720421.2T ES2544639T3 (en) | 2011-05-13 | 2012-05-08 | Procedure to drive a car with a driver assistance system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011101591.8 | 2011-05-13 | ||
DE102011101591.8A DE102011101591B4 (en) | 2011-05-13 | 2011-05-13 | Method for operating a motor vehicle with a driver assistance system |
Publications (1)
Publication Number | Publication Date |
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WO2012156040A1 true WO2012156040A1 (en) | 2012-11-22 |
Family
ID=46062226
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Application Number | Title | Priority Date | Filing Date |
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PCT/EP2012/001964 WO2012156040A1 (en) | 2011-05-13 | 2012-05-08 | Method for operating a motor car with a driver assistance system |
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Country | Link |
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US (1) | US9296417B2 (en) |
EP (1) | EP2707246B1 (en) |
CN (1) | CN103534132B (en) |
DE (1) | DE102011101591B4 (en) |
ES (1) | ES2544639T3 (en) |
WO (1) | WO2012156040A1 (en) |
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---|---|---|---|---|
DE102014206136A1 (en) * | 2014-04-01 | 2015-11-12 | Continental Teves Ag & Co. Ohg | Method and electrical system for increasing a pressure build-up dynamics of a motor vehicle brake system |
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- 2012-05-08 US US14/117,132 patent/US9296417B2/en active Active
- 2012-05-08 WO PCT/EP2012/001964 patent/WO2012156040A1/en active Application Filing
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Also Published As
Publication number | Publication date |
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CN103534132B (en) | 2017-02-15 |
CN103534132A (en) | 2014-01-22 |
US9296417B2 (en) | 2016-03-29 |
DE102011101591A1 (en) | 2012-11-15 |
DE102011101591B4 (en) | 2016-06-02 |
EP2707246A1 (en) | 2014-03-19 |
EP2707246B1 (en) | 2015-07-08 |
ES2544639T3 (en) | 2015-09-02 |
US20140074358A1 (en) | 2014-03-13 |
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